/*
乐迪遥控器
*/
/* Includes ----------------------------------------------------------------- */
#include "LD_remote.h"
#include <string.h>
#include "bsp_usart.h"
#include "error_detect.h"
#include "LD_remote.h"
//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
//RC_ctrl_t rc_ctrl;
//static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
//uint8_t remote_ready = 0;//Ò£¿ØÆ÷×¼±¸Íê³É
//void remote_control_init(void)
//{
// RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
//}
// int map_int(int x, int in_min, int in_max, int out_min, int out_max)
//{
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
//}
////´®¿ÚÖжÏ
//void USART3_IRQHandler(void)
//{
// //have received data ???
// if(huart3.Instance->SR & UART_FLAG_RXNE)
// {
// __HAL_UART_CLEAR_FEFLAG(&huart3);
// }
// else if(USART3->SR & UART_FLAG_IDLE)
// {
//
// static uint16_t this_time_rx_len = 0;
// __HAL_UART_CLEAR_PEFLAG(&huart3);
//
// if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
// {
// //current memory buffer used is memory0
//
// //disable dma to change dma register
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
//
// //get received data length, length = set_data_length - remain_length
// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
// //reset set_data_length
// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//
// //change memory0 to memory1
// hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
//
// //enable dma
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
//
// //1 frame length is correct data
// if(this_time_rx_len == RC_FRAME_LENGTH)
// {
// sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
// }
// }
// else
// {
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
//
// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//
// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//
// //change memory1 to memory0
// DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
//
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
//
// if(this_time_rx_len == RC_FRAME_LENGTH)
// {
// sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
// }
// }
// }
//}
//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
//{
// if (sbus_buf == NULL || rc_ctrl == NULL)
// {
// return;
// }
//
// rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //!< Channel 0
// rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
// rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //!< Channel 2
// (sbus_buf[5] << 10)) &0x07ff;
// rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
//
// rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //!< Switch left
// rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //!< Switch right
// rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //!< Mouse X axis
// rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //!< Mouse Y axis
// rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //!< Mouse Z axis
// rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //!< Mouse Left Is Press ?
// rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //!< Mouse Right Is Press ?
// rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //!< KeyBoard value
// rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
// rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
// rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
// rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
//
// //µ÷ÕûÒ¡¸ËÖÐֵʹң¿ØÆ÷΢µ÷Á¿Îª0ʱҡ¸ËÖÐÖµ½Ó½ü0£¬ÓÍÃųýÍâ
// //µÚÒ»´Îµ÷³µÇ°ÏÈÈ·ÈÏͨµÀÖµÊÇ·ñÕýÈ·£¡£¡Èç²»·ûºÏ¸ù¾Ýʵ¼ÊͨµÀÖµ½øÐÐÐÞ¸Ä
// //Ð޸Ĵ˴¦¼°omni_chassis.cÖÐͨµÀÖµ²¿·Ö
// rc_ctrl->ch[0] += 24; //y(-694,693)×óÓÒ
// rc_ctrl->ch[1] = -rc_ctrl->ch[1]-24; //x(-693,694)Ç°ºó
// rc_ctrl->ch[2] = -rc_ctrl->ch[2]+764; //m(95,1482)ÓÍÃÅ
// rc_ctrl->ch[3] += 24; //w(-694,693)Ðýת
//
// rc_ctrl->ch[1] = map_int(rc_ctrl->ch[1],-693,694,-700,700); //xÓ³Éäµ½(-700,700)
// rc_ctrl->ch[0] = map_int(rc_ctrl->ch[0],-694,693,-700,700); //yÓ³Éäµ½(-700,700)
// rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]); //w
//
// //ËÀÇø(-30,30)
// if(rc_ctrl->ch[0]>-30&&rc_ctrl->ch[0]<30) rc_ctrl->ch[0]=0;
// if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<30) rc_ctrl->ch[1]=0;
// if(rc_ctrl->ch[2]>-30&&rc_ctrl->ch[2]<30) rc_ctrl->ch[2]=0;
// if(rc_ctrl->ch[3]>-30&&rc_ctrl->ch[3]<30) rc_ctrl->ch[3]=0;
// remote_ready = 1;
//}
//int map(int x, int in_min, int in_max, int out_min, int out_max) //Ó³É亯Êý
//{
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
//}
///*
//
//306 306
// sw[] sw[7]
//1694 1694
//
//306 306
//sw[6] sw[4]
//1694 1694
//306 306 306 306
//sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3]
//1694 1694 1694 1694
// 710
// 688 1425
// | |
// | |
// 54 -616------ch[3]770 -354---------ch[0] 339 0
// | |
// | |
// ch[2] ch[1]
// _699 38
//*/